农用拖拉机2K-H式增扭器的设计

本文对由单排2K-H型行星齿轮传动机构进行了分析。计算传动方案的传动比,根据传动比和安装条件进行配齿计算和模数选择,对行星齿轮传动进行受力分析及强度计算,并计算传动效率,输出轴的设计计算。     

摇杆式履带悬架的构型推衍及其在煤矿救灾机器人上的应用

为使机器人行走机构既能被动地适应崎岖的非结构地形,又能克服台阶、沟道等规则障碍,将履带行 走机构引入摇杆式移动系统中．通过增加摆臂履带和固定关节角,推衍了多种型式的摇杆式履带悬架构型,分析了 各悬架构型的特点．结合煤矿井下非结构的地形环境与爆炸性气体环境,提出了一种采用对称的W 形履带悬架的 摇杆式履带机器人移动系统,并制作了样机．分析了该移动系统的抗倾覆、攀爬台阶、下台阶、跨越沟道等越障特 性并进行了性能试验．性能分析与样机试验表明,摇杆式履带机器人移动平台可适应复杂的非结构地形,具有良好 的越障性能,可攀爬100 mm 高的台阶,下450 mm 高的台阶,跨越260 mm 宽的沟道．     

管道机器人三轴差动式驱动单元的设计研究

设计了由三轴差速机构、管径适应机构组成的管道机器人三轴差动式驱动单元,对驱动单元在直管、弯管的差速特性与力学特性进行了理论分析．三轴差动式驱动单元在直管中运动时差速机构不起作用;在弯管运动时,根据管道拓扑环境实现自主差速,且行走轮运动状态为纯滚动,无寄生功率产生．所设计的管道机器人三轴差动式驱动单元为机械自适应型差动式管道机器人的理论研究奠定了基础．     

抓持式对接机构的设计及分析

针对多机器人崎岖地形刚性对接问题,提出了“相互独立! 不完全约束! 完全约束”的顺次对接方 式,并设计了一种抓持式对接机构．该机构能够实现俯仰、偏摆两个自由度方向的姿态调整,并利用凸轮槽形控制 机械手的张合,具备抓持物体、多机器人刚性对接、分工协作等多种作业功能．对该机构进行了运动学分析,给出 了其运动学正解、逆解和工作空间模型．在此基础上研制JL-2 型自重构模块化移动机器人样机,并对抓持式对接机 构性能进行了实验验证．实验证明该机构具有较强的纠偏能力和较宽的抓持范围,可以完成多个机器人之间的相互 对接、协作等多种任务．     

“8”字形轨迹无碳小车结构设计浅析

本文主要阐述由1公斤重物作为动力源，将其重力势能转换成动能的三轮结构的无碳小车的结构设计原理。主要分析不完全齿轮机构作为转向机构原理的设计方案，以及比较凸轮机构或曲柄摇杆机构作为转向机构时，对无碳小车各方面的性能影响。     

双手爪式仿生攀爬机器人的摇杆控制

探讨一种新型双手爪式5自由度仿生攀爬机器人(Climbot)的摇杆控制方法.首先,对机器人的运动学和可夹持空间问题进行了分析.然后,针对其双手爪交替夹持攀爬的特点,提出了直观的摇杆操作模式,包括对不同的攀爬步态设计了不同的操作坐标系,并利用建立变换矩阵的方法将交替夹持端前后的机器人描述在同一坐标系中.最后,通过尺蠖、扭转和翻转3种步态的路灯杆攀爬和应用示范实验结果证明了该摇杆控制方法的有效性.     

Pro／e在双摇杆机构中的应用

为直观方便地求出双摇杆机构的摆角,用Pro/e对双摇杆机构进行实体建模,然后使用Pro/e所带的测量工具进行角度测量可简便求出其摆角大小。此方法具有通用性,可用于曲柄摇杆机构以及铰链四杆机构演变得到的其他机构,而且为这些机构的运动分析和动力分析提供了基础。     

空军一号战机控制器X36型

清华同方公司最近推出一款航空游戏类飞行摇杆——空军一号战机控制器X36型。该款摇杆采用USB/GAMEPORT双接口,不论你使用新主板,还是使用过去的老主板,都能很好兼容。摇杆整体采用黑色调,分为左右手操控两部分。左手是油门/方向调节控制器,含有带级位的油门调节器、方向控制器、2×3位置选择开关、2×开火按钮、4方向帽式开关、一个滑鼠控制/4或8方向帽式开关和一组3×状态指示灯。右手是操纵杆控制器,含有方向手柄、2×8方向帽式开关、4×开火按钮、食指操控的发射按钮、小指操控的功能调校器和小指状态指示灯。     

利用Visual Basic开发平面曲柄摇杆机构可视化图谱

利用Visual Basic6．0程序设计语言，开发了平面曲柄摇杆机构可视化图谱，即在电子计算机上适时生成一系列机构性能与设计图谱；利用该图谱可视化适时设计机构基本尺寸、适时生成机构运动线图和机构运动仿真。是平面曲柄格杆机构分析与设计的有力工具。     

基于行星齿轮机构的牵引式欠驱动机械手设计

为实现夹持力调节和目标物体抓取功能,设计了一种基于行星齿轮机构的牵引式欠驱动机械手。该机械手采用不固定输出轴和内齿圈的行星齿轮机构来分配2种互斥的运动,一种用于手指的转动,实现机械手的夹持功能;另一种用于皮带轮的无限转动,通过皮带实现目标物体的拉入功能。相对于腱绳式和连杆式欠驱动机械手,这种单输入双输出形式不仅能够保持机械手的自适应性,同时还能降低机械手的耦合程度。根据行星齿轮机构的这种传动特点,设计了阻力矩调节机构,实现了机械手的夹持力调节功能。夹持力测试实验表明,在阻力矩调节机构的作用下,机械手能有效调节夹持力。抓取实验结果表明,机械手能够实现对刚性和柔性目标物体的抓取操作,验证了机械手设计的有效性。     

Impact Analysis of a Dual-Crawler-Driven Robot

This paper presents the impact analysis of a new dual-crawler-driven robot. This dual-crawler-driven robot is realized by connecting rigidly two crawler modules. In this newly proposed crawler module, a planetary gear reducer is deployed as the power transmission device to give two different outputs with just one actuator. Compared with the crawler driven by two actuators, our crawler module driven by one actuator could show good impact absorption when the robot collides with an obstacle due to the fact that there exists an output redundancy in each module. To determine what the advantage of our mechanism to the impact absorption is, impact analysis of the robot is conducted from the external components of the robot to its internal transmission parts while the robot encounters a collision with obstacles. The results of impact effect to the actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator. Numerical results are used to demonstrate the advantage of our mechanism on impact absorption.     

一种基于行星履带轮越障与混合双吸附补偿的爬壁机器人的设计与研究

针对爬壁机器人在复杂壁面工作时越障能力弱、移动迟缓和吸附力不足等问题,设计了一种基于行星履带轮越障与混合双吸附补偿的爬壁机器人,并对壁面移动和越障的性能进行研究。首先根据机器人在壁面上的运动原理,建立其力学模型,计算出沿壁面移动和越障所需的吸附力;进一步结合其受力情况,对越障过程中爬升阶段和跨越阶段的吸附力补偿模型和行...     

一种轮足复合式爬壁机器人机构建模与分析

基于行星轮系运动及双足真空吸附原理,提出了一种新型爬壁机器人机构,介绍了机构的构型及结构特点,推导了运动学方程,分析了沿直线行走、平面旋转和跨越交叉壁面三种运动模式．仿真结果表明该机构具有移动速度快、运动灵活、跨越交叉壁面能力强等特点．     

基于拓扑图基尔霍夫定律在行星轮系运动中的应用

应用基尔霍夫定律建立基于拓扑图的行星轮系数学模型——回路方程组、切割方程组来分析、解决行星轮系运动学的有关问题,求解行星轮系的传动比和角速度以及行星轮系中各个构件之间的受力和力矩。     

混合齿轮行星系分插机构的设计与仿真

将偏心齿轮-非圆齿轮行星系应用于插秧机分插机构中,研制出混合齿轮行星系分 插机构。建立偏心齿轮与非圆齿轮的节曲线数学模型,获取齿轮节曲线方程,并结合KISSSOFT 和MATLAB 软件对非圆齿轮进行设计。建立分插机构运动数学模型,利用MATLAB 开发优化 辅助软件,对分插机构的参数进行优化。完成了分插机构的三维CAD 设计,并在ADAMS 中 对分插机构进行了运动学虚拟仿真,获取了秧针尖点的静态轨迹和动态轨迹,将其与理论分析 得到的轨迹曲线进行对比,验证了混合齿轮行星系应用于插秧机分插机构上的可行性。     

Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator

In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed.     

A helical drive in-pipe robot based on compound planetary gearing

The modern society is fuelled by very comprehensive grids of gas and liquid pipelines. In recent years, various in-pipe robots have been developed for inspection and maintenance tasks inside such pipes. In this paper, a novel in-pipe robot is proposed and developed for gas/oil well interventions at thousands of meters downhole. Due to the nature of such intervention, in-pipe robot design must be capable of carrying a very large payload, as large as 2500?N inside a pipe with diameter as small as 54?mm. The proposed design concept is based on a compound planetary gearing system. One of the major novelties of this design is the use of pipe wall as a ring gear for one stage of the compound planetary gear system; the other novelty is the generation of helical angle when the planetary gears are expanded to press on the pipe wall. The proposed concept is compact, efficient, and has never been reported before. In this paper, the helical angle, the velocity, and load capability of the proposed system will be analyzed. The load transportation capability of the proposed robot is also measured based on an experiment. Initial data have shown great potential in carrying large payloads.     

Modelling the dynamic characteristics of a robot arm joint

The dynamic behavior of a robot arm has been modelled, taking into account the elasticity and damping of the joints and the backlash introduced by the gear pairs of the transmission mechanism. The links of the robot arm are considered to be rigid and its joints rotational. A technique for automatic formulation of the differential equations of the lumped mass dynamic model of the gear train, incorporating the backlash nonlinearity, has been developed. Each link and the accompanying joint comprise a module. The dynamic equations of the manipulator are formulated through an iterative technique. The algorithm will provide automatic formulation of the dynamic equations of the model of the arm including the referenced nonlinearities of the joint drives. Finally, an application of the algorithm to a planar manipulator arm with two links and two rotational joints is presented.     

Magnetic mechanical capsule robot for multiple locomotion mechanisms

This paper proposes a magnetic mechanical capsule robot which crawls in a fluid-filled tube. The developed capsule robot employs two locomotion mechanisms simultaneously. It has spiral ribs at both ends, which are rotated by a small on-board motor. Such rotating spiral structures generate a driving force of the capsule robot. We invented a magnetic mechanical mechanism to transfer the rotational motion of the frontal part into the linear motion of the middle part. Using this original mechanism, the linearly moving part at the middle of the capsule robot generates a supportive driving force. The improved mobility is evaluated in experiments. The developed capsule robot employing multiple locomotion mechanisms moves 44% faster than the spiral motion-based capsule robot. The developed magnetic mechanical mechanism and the mobile robotic platform could be used for pipe inspection robots or medical robots.